CN210633690U - Lifting magnetic suction clamping device used on mechanical arm - Google Patents
Lifting magnetic suction clamping device used on mechanical arm Download PDFInfo
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- CN210633690U CN210633690U CN201920715743.5U CN201920715743U CN210633690U CN 210633690 U CN210633690 U CN 210633690U CN 201920715743 U CN201920715743 U CN 201920715743U CN 210633690 U CN210633690 U CN 210633690U
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- connecting joint
- gripper
- lifting magnetic
- cross rod
- joint
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- 230000005389 magnetism Effects 0.000 claims abstract description 10
- 230000000630 rising effect Effects 0.000 claims description 4
- 239000004744 fabric Substances 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
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Abstract
The utility model discloses a lifting magnetic suction clamping device used on a mechanical arm, which comprises a U-shaped fixed support, a cylinder, a cross rod, a gripper fixed arm, a first gripper, a second gripper and a lifting magnetic suction mechanism; the air cylinder is arranged on the U-shaped fixed support, and a piston rod of the air cylinder penetrates through the U-shaped fixed support and then is connected with the cross rod; the lifting magnetic attraction mechanism is arranged on the cross rod and wrapped between the first gripper and the second gripper. Its simple structure, the work piece snatchs stability height, and during the use, the work piece that the mechanism was first got to waiting to press from both sides to carry out the electro-magnet with the work piece and adsorb to in the parcel scope of first tongs and second tongs, first tongs, second tongs draw close at the control action of cylinder, press from both sides the work piece tight, inhale the mechanism through the lift magnetism and coordinate the action with first tongs, second tongs, the condition that the work piece that significantly reduces dropped after snatching takes place.
Description
Technical Field
The utility model relates to a mechanical tongs specifically is a device is got to lift magnetism that is used for on arm.
Background
The manipulator is an automatic operation device which can imitate certain motion functions of a human hand and an arm and is used for grabbing and carrying objects or operating tools according to a fixed program; can replace the heavy labor of people to realize the mechanization and automation of production, can operate under harmful environment to protect the personal safety, and is widely applied to departments of mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and the like. In the composition structure of the manipulator, the grabbing mechanism is a final action executing component, and after the manipulator moves to a specified position, the grabbing mechanism operates to complete clamping or loosening actions so as to realize taking, placing and processing operations of external components. The existing grabbing mechanism is usually in a clamping jaw type, when workpieces are clamped and transported, clamping is easy to occur, the workpiece falling condition occurs, the workpieces are easy to deform or even damage due to the fact that the workpieces fall, the processing cost is increased, and the workpiece transporting efficiency is reduced.
Therefore, a magnetic attraction clamping device for lifting of the mechanical arm is needed to solve the defects in the prior art.
SUMMERY OF THE UTILITY MODEL
Utility model purpose: to the problem and not enough of existence among the above-mentioned prior art, the utility model aims at providing a device is got to lift magnetism that is used for on the arm.
The technical scheme is as follows: in order to achieve the above purpose, the lifting magnetic clamping device for the mechanical arm of the utility model comprises a U-shaped fixed support, a cylinder, a cross rod, a gripper fixed arm, a first gripper, a second gripper and a lifting magnetic suction mechanism; the U-shaped fixed support is provided with a rotary connecting seat, and the rotary connecting seat is connected with an output shaft of a rotary motor; the air cylinder is arranged on the U-shaped fixed support, and a piston rod of the air cylinder wrapped in the rotary connecting seat penetrates through the U-shaped fixed support and then is connected with the cross rod; the lifting magnetic attraction mechanism is arranged on the cross rod and wrapped between the first gripper and the second gripper.
Furthermore, the gripper fixing arm comprises a first connecting joint, a second connecting joint, a third connecting joint, a fourth connecting joint, a fifth connecting joint and a sixth connecting joint; the first connecting joint and the second connecting joint are respectively and vertically arranged on the lower side of the cross rod; one end of each of the fifth connecting joint and the sixth connecting joint is movably connected with two ends of the U-shaped fixing bracket through the connecting column; one end of the third connecting joint is movably connected with the first connecting joint through a connecting column, and the other end of the third connecting joint is movably connected with the fifth connecting joint; one end of the fourth connecting joint is movably connected with the second connecting joint through a connecting column; the other end of the fourth connecting joint is movably connected with the sixth connecting joint through a connecting column; the first gripper is fixedly arranged on the fifth connecting joint, and the second gripper is fixedly arranged on the sixth connecting joint.
Furthermore, an elastic limiting block I used for limiting the rising positions of the first connecting joint and the second connecting joint is arranged on the cross rod. On the one hand, the elastic limiting block is used for limiting the rising positions of the first connecting joint and the second connecting joint, and the situation that the opening degree of the first gripper and the opening degree of the second gripper are too large is avoided.
Furthermore, an elastic limiting block II is also arranged on the inner side of the U-shaped fixing support. The second elastic limiting block can weaken the collision force between the cross rod and the inner side of the U-shaped fixing support when the cross rod is driven to retract by the cylinder.
Furthermore, the lifting magnetic suction mechanism comprises a micro cylinder and an electromagnet, and the micro cylinder is arranged on the cross rod and is positioned between the first connecting joint and the second connecting joint; the electromagnet is fixedly connected with a telescopic rod of the micro cylinder, and the electromagnet is connected with the power control switch through a wire. The lifting magnetic attraction mechanism plays a role in assisting clamping of the workpiece, the electromagnet can be driven by the screw rod to be parallel and level with the tail ends of the first gripper and the second gripper, the three simultaneously contacts the workpiece, the electromagnet is powered on and then has magnetism, the workpiece to be clamped is firstly adsorbed by the electromagnet, the workpiece is conveyed to the wrapping range of the first gripper and the second gripper, and the first gripper and the second gripper can conveniently and firmly grip.
Furthermore, the left side and the right side of the U-shaped fixing support are provided with hole grooves for embedding the fifth connecting joint and the sixth connecting joint. Due to the design of the hole groove, the structures of the U-shaped fixing support, the fifth connecting joint and the sixth connecting joint are more compact.
Furthermore, the inner sides of the first gripper and the second gripper are provided with inserts matched with the clamping object.
Furthermore, a T-shaped clamping block is arranged on the arc-shaped block, and clamping grooves matched with the clamping block are formed in the inner sides of the first gripper and the second gripper.
Furthermore, the inner side of the insert is provided with an anti-slip part, and the anti-slip part is a rubber strip or anti-slip cloth.
Above-mentioned technical scheme can see out, the beneficial effects of the utility model are that:
a device is got to lift magnetism that is used for on arm to inhale clamp, its simple structure, high durability and convenient use, the work piece snatchs stability height, during the use, lift magnetism is inhaled the mechanism and is carried out the electro-magnet with the work piece of waiting to press from both sides and adsorb at first to in sending the work piece to the parcel scope of first tongs and second tongs, first tongs, second tongs draw close at the control action of cylinder, press from both sides the work piece tightly immediately, inhale mechanism and first tongs, second tongs coordinated action through lift magnetism, the condition that the work piece that drops after snatching that significantly reduces takes place.
(2) A device is got to lift magnetism that is used for on arm is inhaled and is got, swivelling joint seat can realize 360 rotations with U type fixed bolster together with whole manipulator in the horizontal direction under the control of rotating electrical machines to can improve the lift magnetism and inhale the application range who gets the device.
Drawings
Fig. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the U-shaped fixing bracket of the present invention;
fig. 3 is a schematic structural view of the first hand grip and the insert of the present invention.
Detailed Description
The invention will be further elucidated with reference to the drawings and the specific embodiments.
The lifting magnetic clamping device used on the mechanical arm as shown in figures 1-3 comprises a U
The lifting magnetic attraction type manipulator comprises a profile fixing support 1, a cylinder 2, a cross rod 3, a gripper fixing arm 4, a first gripper 5, a second gripper 6 and a lifting magnetic attraction mechanism 7; the U-shaped fixed support 1 is provided with a rotary connecting seat 10, and the rotary connecting seat 10 is connected with an output shaft of a rotary motor 12; the air cylinder 2 is arranged on the U-shaped fixed support 1 and wrapped in the rotary connecting seat 10, and a piston rod of the air cylinder 2 penetrates through the U-shaped fixed support 1 and then is connected with the cross rod 3; the hand grab fixing arm 4 is movably arranged between the U-shaped fixing support 1 and the cross rod 3, the first hand grab 5 and the second hand grab 6 are respectively arranged on two sides of the hand grab fixing arm 4, and the lifting magnetic suction mechanism 7 is arranged on the cross rod 3 and wrapped between the first hand grab 5 and the second hand grab 6.
The grip fixing arm 4 in this embodiment includes a first connection joint 41, a second connection joint 42, a third connection joint 43, a fourth connection joint 44, a fifth connection joint 45, and a sixth connection joint 46; the first connecting joint 41 and the second connecting joint 42 are respectively vertically arranged at the lower side of the cross rod 3; one end of each of the fifth connecting joint 45 and the sixth connecting joint 46 is movably connected with two ends of the U-shaped fixed bracket 1 through a connecting column 47; one end of the third connecting joint 43 is movably connected with the first connecting joint 41 through a connecting column 47, and the other end of the third connecting joint is movably connected with the fifth connecting joint 45; one end of the fourth connecting joint 44 is movably connected with the second connecting joint 42 through a connecting column 47; the other end of the fourth connecting joint 44 is movably connected with a sixth connecting joint 46 through a connecting column 47; the first hand grip 5 is fixedly arranged on the fifth connecting joint 45, and the second hand grip 6 is fixedly arranged on the sixth connecting joint 46.
In this embodiment, the cross bar 3 is provided with a first elastic limiting block 8 for limiting the rising positions of the first connecting joint 41 and the second connecting joint 42.
In this embodiment, the inner side of the U-shaped fixing bracket 1 is also provided with a second elastic limiting block 13.
In this embodiment, the lifting magnetic attraction mechanism 7 includes a micro cylinder 71 and an electromagnet 72, the micro cylinder 71 is disposed on the cross bar 3 and located between the first connection joint 41 and the second connection joint 42; the electromagnet 72 is fixedly connected with the telescopic rod of the micro cylinder 71, and the electromagnet 72 is connected with the power control switch through a lead.
In this embodiment, the U-shaped fixing bracket 1 is provided with hole grooves 11 at both left and right sides for the fifth connecting joint 45 and the sixth connecting joint 46 to be inserted into.
In the embodiment, the inner sides of the first gripper 5 and the second gripper 6 are provided with inserts 9 matched with the clamping object.
In this embodiment, the insert 9 is provided with a T-shaped fixture block 91, and the inner sides of the first gripper 5 and the second gripper 6 are both provided with a clamping groove matched with the T-shaped fixture block 91.
In this embodiment, the inner side of the insert 9 is provided with an anti-slip part, and the anti-slip part is a rubber strip or anti-slip cloth.
The examples are given solely for the purpose of illustration and are not intended to limit the scope of the invention, which is to be determined by those skilled in the art after reading the present disclosure, and all such equivalents are intended to fall within the scope of the invention as defined in the claims appended hereto.
Claims (8)
1. The utility model provides a device is got to lift magnetism that is used for on arm, its characterized in that: comprises a U-shaped fixed bracket (1), a cylinder (2), a cross rod (3), a gripper fixed arm (4), a first gripper (5), a second gripper (6) and a lifting magnetic attraction mechanism (7); the U-shaped fixed support (1) is provided with a rotary connecting seat (10), and the rotary connecting seat (10) is connected with an output shaft of a rotary motor (12); the air cylinder (2) is mounted on the U-shaped fixing support (1) and wrapped in the rotary connecting seat (10), and a piston rod of the air cylinder (2) penetrates through the U-shaped fixing support (1) and then is connected with the cross rod (3); the lifting magnetic attraction type gripper fixing arm is characterized in that the gripper fixing arm (4) is movably arranged between the U-shaped fixing support (1) and the cross rod (3), the first gripper (5) and the second gripper (6) are respectively arranged on two sides of the gripper fixing arm (4), and the lifting magnetic attraction type mechanism (7) is arranged on the cross rod (3) and wrapped between the first gripper (5) and the second gripper (6).
2. The lifting magnetic picking device as claimed in claim 1, wherein: the hand grip fixing arm (4) comprises a first connecting joint (41), a second connecting joint (42), a third connecting joint (43), a fourth connecting joint (44), a fifth connecting joint (45) and a sixth connecting joint (46); the first connecting joint (41) and the second connecting joint (42) are respectively and vertically arranged on the lower side of the cross rod (3); one ends of the fifth connecting joint (45) and the sixth connecting joint (46) are movably connected with the two ends of the U-shaped fixed bracket (1) through connecting columns (47); one end of the third connecting joint (43) is movably connected with the first connecting joint (41) through a connecting column (47), and the other end of the third connecting joint is movably connected with the fifth connecting joint (45); one end of the fourth connecting joint (44) is movably connected with the second connecting joint (42) through a connecting column (47); the other end of the fourth connecting joint (44) is movably connected with a sixth connecting joint (46) through a connecting column (47); the first gripper (5) is fixedly arranged on the fifth connecting joint (45), and the second gripper (6) is fixedly arranged on the sixth connecting joint (46).
3. The lifting magnetic picking device as claimed in claim 1, wherein: and an elastic limiting block I (8) used for limiting the rising positions of the first connecting joint (41) and the second connecting joint (42) is arranged on the cross rod (3).
4. The lifting magnetic picking device as claimed in claim 2, wherein: and the inner side of the U-shaped fixed support (1) is also provided with a second elastic limiting block (13).
5. The lifting magnetic picking device as claimed in claim 2, wherein: the lifting magnetic suction mechanism (7) comprises a micro cylinder (71) and an electromagnet (72), wherein the micro cylinder (71) is arranged on the cross rod (3) and is positioned between the first connecting joint (41) and the second connecting joint (42); the electromagnet (72) is fixedly connected with a telescopic rod of the micro cylinder (71), and the electromagnet (72) is connected with the power control switch through a lead.
6. The lifting magnetic picking device as claimed in claim 2, wherein: the left side and the right side of the U-shaped fixing support (1) are provided with hole grooves (11) for embedding the fifth connecting joint (45) and the sixth connecting joint (46).
7. The lifting magnetic picking device as claimed in claim 1, wherein: the inner sides of the first gripper (5) and the second gripper (6) are provided with inserts (9) matched with the clamping object.
8. The lifting magnetic picking device as claimed in claim 7, wherein: a T-shaped clamping block (91) is arranged on the insert (9), and clamping grooves matched with the T-shaped clamping block (91) are formed in the inner sides of the first gripper (5) and the second gripper (6); the inner side of the insert (9) is provided with an anti-slip part which is a rubber strip or anti-slip cloth.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920715743.5U CN210633690U (en) | 2019-05-17 | 2019-05-17 | Lifting magnetic suction clamping device used on mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920715743.5U CN210633690U (en) | 2019-05-17 | 2019-05-17 | Lifting magnetic suction clamping device used on mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210633690U true CN210633690U (en) | 2020-05-29 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920715743.5U Expired - Fee Related CN210633690U (en) | 2019-05-17 | 2019-05-17 | Lifting magnetic suction clamping device used on mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210633690U (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111987641A (en) * | 2020-08-20 | 2020-11-24 | 贵州电网有限责任公司 | Power transmission line nest cleaning device |
| CN112025387A (en) * | 2020-09-02 | 2020-12-04 | 山东劳动职业技术学院（山东劳动技师学院） | Magnetic type mechanical clamping jaw for machine manufacturing |
| CN112279165A (en) * | 2020-10-30 | 2021-01-29 | 株洲时代新材料科技股份有限公司 | Lower chord stiffening steel truss inspection vehicle lifting platform |
| CN112338901A (en) * | 2020-11-10 | 2021-02-09 | 南京栖木智能技术研究院有限公司 | General type robot grabbing device based on electromagnetic adsorption |
| CN112573338A (en) * | 2020-12-03 | 2021-03-30 | 东莞市中汉磁材科技有限公司 | Strong magnetic device convenient to disassemble and assemble and use method thereof |
| CN112605578A (en) * | 2020-12-23 | 2021-04-06 | 浩科机器人（苏州）有限公司 | Welding manipulator for grabbing bar and working method thereof |
| IT202000019570A1 (en) * | 2020-08-06 | 2022-02-06 | Univ Degli Studi Di Siena | MAGNETIC COUPLING GRIPPING SYSTEM FOR ROBOTIC MANIPULATION |
| CN114029989A (en) * | 2021-12-10 | 2022-02-11 | 深圳市锐邦德精密部件有限公司 | Mechanical arm used in cooperation with numerical control lathe |
| CN114516535A (en) * | 2022-01-27 | 2022-05-20 | 上海果铸信息科技有限公司 | Automatic picking and placing device for placing miniature fruit boxes closely |
| CN115041713A (en) * | 2022-06-24 | 2022-09-13 | 汕头大学 | Processing head quick-change device and material-increasing and material-decreasing composite repair system |
| CN115780314A (en) * | 2021-09-13 | 2023-03-14 | 中国科学院沈阳自动化研究所 | Composite manipulator for automatic sorting of power type cylindrical lithium batteries |
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2019
- 2019-05-17 CN CN201920715743.5U patent/CN210633690U/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| IT202000019570A1 (en) * | 2020-08-06 | 2022-02-06 | Univ Degli Studi Di Siena | MAGNETIC COUPLING GRIPPING SYSTEM FOR ROBOTIC MANIPULATION |
| CN111987641A (en) * | 2020-08-20 | 2020-11-24 | 贵州电网有限责任公司 | Power transmission line nest cleaning device |
| CN112025387A (en) * | 2020-09-02 | 2020-12-04 | 山东劳动职业技术学院（山东劳动技师学院） | Magnetic type mechanical clamping jaw for machine manufacturing |
| CN112279165A (en) * | 2020-10-30 | 2021-01-29 | 株洲时代新材料科技股份有限公司 | Lower chord stiffening steel truss inspection vehicle lifting platform |
| CN112338901A (en) * | 2020-11-10 | 2021-02-09 | 南京栖木智能技术研究院有限公司 | General type robot grabbing device based on electromagnetic adsorption |
| CN112573338A (en) * | 2020-12-03 | 2021-03-30 | 东莞市中汉磁材科技有限公司 | Strong magnetic device convenient to disassemble and assemble and use method thereof |
| CN112605578A (en) * | 2020-12-23 | 2021-04-06 | 浩科机器人（苏州）有限公司 | Welding manipulator for grabbing bar and working method thereof |
| CN115780314A (en) * | 2021-09-13 | 2023-03-14 | 中国科学院沈阳自动化研究所 | Composite manipulator for automatic sorting of power type cylindrical lithium batteries |
| CN114029989A (en) * | 2021-12-10 | 2022-02-11 | 深圳市锐邦德精密部件有限公司 | Mechanical arm used in cooperation with numerical control lathe |
| CN114516535A (en) * | 2022-01-27 | 2022-05-20 | 上海果铸信息科技有限公司 | Automatic picking and placing device for placing miniature fruit boxes closely |
| CN114516535B (en) * | 2022-01-27 | 2023-12-15 | 上海果铸信息科技有限公司 | Automatic picking and placing device for placing miniature fruit boxes close to each other |
| CN115041713A (en) * | 2022-06-24 | 2022-09-13 | 汕头大学 | Processing head quick-change device and material-increasing and material-decreasing composite repair system |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200529 |
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| CF01 | Termination of patent right due to non-payment of annual fee |